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Trumic, Maja und Della Santina, Cosimo und Jovanovic, Kosta und Fagiolini, Adriano (2022) On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control. IEEE Control Systems Letters, 7, Seiten 385-390. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187612. ISSN 2475-1456.
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Offizielle URL: https://dx.doi.org/10.1109/LCSYS.2022.3187612
Kurzfassung
This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.
| elib-URL des Eintrags: | https://elib.dlr.de/193640/ | ||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
| Titel: | On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control | ||||||||||||||||||||
| Autoren: |
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| Datum: | 30 Juni 2022 | ||||||||||||||||||||
| Erschienen in: | IEEE Control Systems Letters | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||
| Band: | 7 | ||||||||||||||||||||
| DOI: | 10.1109/LCSYS.2022.3187612 | ||||||||||||||||||||
| Seitenbereich: | Seiten 385-390 | ||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | soft robotics | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
| Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
| Hinterlegt am: | 27 Jan 2023 14:50 | ||||||||||||||||||||
| Letzte Änderung: | 28 Jun 2023 13:54 |
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